okie doke, thank you. I'll keep re writing this over and over until I understand it but I think I pretty much get what your saying.
On the matrix I was trying to follow you but lost me when you did this
Then reduce it to the form \begin{bmatrix}1 & 0 & 0 & x_0\\ 0 & 1 & 0 & y_0\\ 0 & 0 & 1 & z_0\end{bmatrix}